python -m training.offline.train_pl \
      --max_samples 20 \
      --eval_max_samples 20 \
      --eval_every 1 \
      --save_every 1 \
      --model_version siglip_base_3 \
      --sliding_window 4 \
      --per_gpu_batch 1 \
      --lr 0.0002 \
      --data_dir /home/fd_chen/in_context_RL/spoc-robot-training/data/fifteen \
      --dataset_version  ObjectNavType \
      --model EarlyFusionCnnTransformer \
      --input_sensors raw_navigation_camera raw_manipulation_camera last_actions \
      --precision 16-mixed \
      --loss action \
      --max_epochs 10 \
      --resume_local \
      --output_dir /home/fd_chen/in_context_RL/spoc-robot-training/output \
      --num_nodes 1 \
      --wandb_project_name test_spoc \
      --wandb_entity bravebobo 

#env objectnav
python -m training.offline.online_eval --shuffle \
      --eval_subset minival \
      --output_basedir /home/fd_chen/in_context_RL/spoc-robot-training/output/save/logs \
      --test_augmentation --task_type ObjectNavType \
      --input_sensors raw_navigation_camera raw_manipulation_camera last_actions an_object_is_in_hand \
      --house_set objaverse \
      --training_run_id /home/fd_chen/in_context_RL/spoc-robot-training/pretrained_models/SigLIP-ViTb-3-double-det-CHORES-S \
      --num_workers 1\
      --wandb_logging False \
      --gpu_devices 0\
      --wandb_project_name test_spoc \
      --wandb_entity bravebobo \
      --ckptStep STEP_NUMBER \


      --wandb_logging False \







export CUDA_VISIBLE_DEVICES=0,1,2
export WANDB_PROJECT=test_spoc
export WANDB_ENTITY=bravebobo
export OBJAVERSE_DATA_DIR=/home/fd_chen/in_context_RL/spoc-robot-training/data/objaverse_assets
export OBJAVERSE_HOUSES_DIR=/home/fd_chen/in_context_RL/spoc-robot-training/data/objaverse_houses/houses_2023_07_28
python -m allenact.main training/online/siglip_vitb_gru_rgb_augment_objectnav